US10335895B2 - Friction stir welding device and friction stir welding method - Google Patents

Friction stir welding device and friction stir welding method Download PDF

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US10335895B2
US10335895B2 US15/565,223 US201615565223A US10335895B2 US 10335895 B2 US10335895 B2 US 10335895B2 US 201615565223 A US201615565223 A US 201615565223A US 10335895 B2 US10335895 B2 US 10335895B2
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friction stir
stir welding
joining head
joined
joining
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US20180071860A1 (en
Inventor
Tomio Odakura
Koichi Ishiguro
Kenji Ando
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Hitachi Power Solutions Co Ltd
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Hitachi Power Solutions Co Ltd
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Assigned to HITACHI POWER SOLUTIONS CO., LTD. reassignment HITACHI POWER SOLUTIONS CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ANDO, KENJI, ISHIGURO, KOICHI, ODAKURA, TOMIO
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/123—Controlling or monitoring the welding process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1265—Non-butt welded joints, e.g. overlap-joints, T-joints or spot welds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/22—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating taking account of the properties of the materials to be welded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/26—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/18—Sheet panels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40032—Peg and hole insertion, mating and joining, remote center compliance

Definitions

  • the present invention relates to a friction stir welding device and a friction stir welding method.
  • Patent Literatures 1 to 3 each disclose a friction stir welding device (FSW device) which generates, with a rotating joining tool, a plastic flow in members to be joined and thus joins together the members to be joined.
  • FSW device friction stir welding device
  • Patent Literature 1 discloses a friction stir welding device having a structure suitable for three-dimensional joining in which a tool (joining tool) is attached to a five-axis machining center.
  • Patent Literature 2 discloses a friction stir welding device in which the depth of insertion or the like of a tool (joining tool) is controlled in such a way that the load and current of a main shaft motor for rotating the tool fall within a predetermined range, thus making it less susceptible to the influence of deformation of members to be joined.
  • Patent Literature 3 discloses a friction stir welding device configured in such a way that a distal end part of a joining tool inserted in members to be joined is swung, thus increasing the width of a plastic flow region and increasing the joining strength.
  • Patent Literature 1 JP 2004-136331 A
  • Patent Literature 2 JP 2003-080380 A
  • Patent Literature 3 WO 2005/089998 A1
  • a joining tool In friction stir welding, a joining tool is moved along a joint line (boundary line formed at a part to be joined) on members to be joined. Also, the joining tool, while rotating, is inserted into the members to be joined. Thus, the joining tool receives a reaction force (rotational reaction force) to the rotation, from the members to be joined. Therefore, an external force (Coriolis force) directed in a direction away from the joint line acts on the joining tool moving along the joint line.
  • a reaction force rotational reaction force
  • a large friction stir welding device can restrain the Coriolis force with its large mass and can move the joining tool along a joint line. That is, by increasing the mass of the joining tool and peripheral apparatus and by moving the joining tool by a large and powerful drive device, it is possible to move the joining tool without being influenced by the Coriolis force.
  • a small and lightweight friction stir welding device cannot sufficiently restrain the Coriolis force with its mass. Therefore, the moving joining tool may move away from a joint line and generate misalignment between the joint line and the joining tool (junction deviation).
  • Patent Literatures 1 to 3 include no description of a technique for correcting the junction deviation generated between the moving joining tool and the joint line.
  • the correction mechanism disclosed in Patent Literature 1 is configured to change the position of the tool (joining tool) into a direction parallel to the axis of rotation of the tool, but is not configured to correct the junction deviation generated between the moving tool and the joint line.
  • the friction stir welding device of Patent Literature 2 is configured to change the depth of insertion of the tool (joining tool) according to the load factor of the main shaft of the main shaft motor for rotating the tool, but is not configured to correct the junction deviation generated between the joint line and the tool.
  • the joining device (friction stir welding device) of Patent Literature 3 is configured to increase the joining strength by tilting the joining tool and thus broadening the plastic flow region, but is not configured to correct the junction deviation generated between joint line and the tool.
  • Patent Literatures 1 to 3 are not configured to be able to correct the junction deviation between the joint line and the joining tool caused by the Coriolis force acting on the rotating joining tool, and to move the joining tool accurately along the joint line to achieve high-quality friction stir welding. Therefore, there is room for improvement.
  • an object of the invention is to provide a friction stir welding device and a friction stir welding method that enable accurate movement of a joining tool and high-quality friction stir welding.
  • a friction stir welding device includes: a joining head attached to a wrist head of a robot main body having multi-axis degrees of freedom; a drive device having the robot main body and capable of moving the joining head along a joint line where two members to be joined are joined together; a control device which supplies a motor drive current to an electric motor provided for the joining head, thus inserts a pin part of a joining tool into the members to be joined while rotating the joining tool, and also controls the drive device in such a way that the joining head moves along the joint line, thus performing friction stir welding of the two members to be joined; and a deviation detection device which detects a junction deviation which is a deviation between the joining head that is moving and a direction along the joint line.
  • the control device If the junction deviation exceeds a deviation limit value which is a predetermined maximum deviation at the time of the friction stir welding, the control device outputs to the drive device a position correction signal with a different polarity according to a difference indirection of misalignment between the joining head and the joint line, for moving the joining head in a direction toward the joint line and resolving the junction deviation, and thus moves the joining head toward the joint line, until the next time the junction deviation becomes zero. If the junction deviation becomes zero, the control device stops outputting the position correction signal to the drive device until the next time the junction deviation exceeds the deviation limit value. Also, a friction stir welding method is executed when the friction stir welding device performs friction stir welding of members to be joined.
  • a friction stir welding device and a friction stir welding method that enable accurate movement of a joining tool and high-quality friction stir welding can be provided.
  • FIG. 1 is a view showing a friction stir welding device.
  • FIG. 2 is a view showing a joining head of the friction stir welding device.
  • FIGS. 3A and 3B are views showing the state where an image pickup device picks up an image of a joint line.
  • FIG. 3A is a view showing the state where two members to be joined are butted against each other.
  • FIG. 3B is a view showing the state where the two members to be joined are superimposed on each other.
  • FIG. 4 is a functional block diagram of a control device.
  • FIG. 5 is a view showing ON/OFF of a position correction signal and the direction of movement of the joining head.
  • FIG. 6 is a flowchart showing a procedure for an image processing unit to output a position correction signal.
  • FIG. 7 is a view showing the relationship between the amount of insertion of the tool and torque.
  • FIG. 8 is a view showing a joining head according to Example 2.
  • FIG. 9 is a view showing the relationship between a proper range of insertion for the amount of insertion of the tool and press load.
  • FIG. 10 is a view showing a joining head according to Example 3.
  • FIG. 11 is a view showing the relationship between a proper range of insertion for the amount of insertion of the tool and the height of the head.
  • FIG. 12 is a view showing a friction stir welding device according to Example 4.
  • FIG. 13 is a view showing a joining head of a friction stir welding device according to Example 5.
  • FIG. 14 is a view showing a joining head of a friction stir welding device according to Example 6.
  • FIG. 15 is a view showing a joining head of a friction stir welding device according to Example 7.
  • FIG. 1 is a view showing a friction stir welding device.
  • FIG. 2 is a view showing a joining head of the friction stir welding device.
  • a friction stir welding device 1 in Example 1 is configured by having a joining head 20 attached to a robot main body 10 . Then, the robot main body 10 is a drive device which moves the joining head 20 .
  • the robot main body 10 has a pedestal part 10 a , a lower arm 10 b , an upper arm 10 c , a wrist 10 d , and a wrist head 10 e .
  • the joining head 20 is attached to the wrist head 10 e.
  • the lower arm 10 b is attached to the pedestal part 10 a .
  • the lower arm 10 b can swivel about an S-axis with respect to the pedestal part 10 a .
  • the lower arm 10 b can tilt about an L-axis with respect to the pedestal part 10 a .
  • the S-axis is an axis extending in a direction perpendicular to an installation surface G where the pedestal part 10 a is installed.
  • the upper arm 10 c is attached in such a way as to be able to swing about a U-axis with respect to the lower arm 10 b .
  • the L-axis and the U-axis are axes parallel to each other and both orthogonal to the S-axis.
  • the wrist 10 d is attached to the upper arm 10 c in such a way as to be rotatable about an R-axis.
  • the R-axis and the U-axis are axes orthogonal to each other and extending in the direction of extension of the upper arm 10 c.
  • the wrist head 10 e is attached to the distal end of the wrist 10 d .
  • the wrist head 10 e is attached in such a way as to be rotatable about a B-axis.
  • the B-axis is an axis orthogonal to the R-axis and rotates about the R-axis together with the wrist 10 d.
  • the wrist head 10 e is rotatable about a T-axis.
  • the T-axis is an axis orthogonal to the B-axis and rotates about the B-axis together with the wrist head 10 e.
  • the lower arm 10 b is attached with two degrees of freedom (about the S-axis, about the L-axis) with respect to the pedestal part 10 a .
  • the upper arm 10 c is attached with one degree of freedom (about the U-axis) with respect to the lower arm 10 b .
  • the wrist 10 d is attached with one degree of freedom (about the R-axis) with respect to the upper arm 10 c .
  • the wrist head 10 e is attached with one degree of freedom (about the B-axis) with respect to the wrist 10 d . Then, the wrist head 10 e rotates about the T-axis with one degree of freedom.
  • the robot main body 10 is a six-axis robot having degrees of freedom about the six axes (S-axis, L-axis, U-axis, B-axis, R-axis, and T-axis).
  • the wrist head 10 e to which the joining head 20 (see FIG. 1 ) is attached, has six degrees of freedom with respect to the installation surface G.
  • the robot main body 10 and the joining head 20 are controlled by a control device 30 .
  • the robot main body 10 may be a widely used six-axis industrial robot or its equivalent. Also, the robot main body 10 may be driven by electric power or may be driven by oil pressure or air pressure.
  • a joining tool 2 is attached to the distal end of a main body part 20 a , thus forming the joining head 20 .
  • An electric motor (main shaft motor 3 ) is housed inside the main body part 20 a , and the joining tool 2 is rotated at the distal end of the main body part 20 a by the main shaft motor 3 .
  • the axis of rotation of the main shaft motor 3 is provided parallel to the T-axis.
  • the joining tool 2 rotates about an axis of rotation parallel to the T-axis.
  • a configuration in which a chuck part 20 b rotated by the main shaft motor 3 is arranged at the distal end and in which this chuck part 20 b holds the joining tool 2 may be employed.
  • the main shaft motor 3 is controlled by the control device 30 (see FIG. 1 ) controlling the robot main body 10 shown in FIG. 1 .
  • the joining tool 2 has a shoulder part 2 a and a pin part 2 b .
  • the shoulder part 2 a is cylindrical.
  • the pin part 2 b is shaped by reducing the diameter of the shoulder part 2 a and is formed coaxially with the shoulder part 2 a.
  • the control device 30 moves the joining tool 2 to a boundary (referred to as a joint line 4 b ) where the two members to be joined 4 which are to be joined by friction stir welding are butted against each other, and causes the main shaft motor 3 to rotate.
  • the joint line 4 b is the boundary where the two members to be joined 4 are joined together.
  • the joining tool 2 is pressed against the members to be joined 4 so that the pin part 2 b is inserted into the members to be joined 4 .
  • the two members to be joined 4 are fixed to a work table (not illustrated) with a fixing measure, not illustrated, so as not to break away from each other on the joint line 4 b at the time of friction stir welding.
  • control device 30 causes the joining tool 2 to move along the joint line 4 b in the state where the pin part 2 b of the rotating joining tool 2 is inserted in the members to be joined 4 .
  • control device 30 controls the robot main body 10 to move the joining tool 2 .
  • the joining head 20 is held by the robot main body 10 with degrees of freedom about six axes. Then, the robot main body 10 is configured to be able to move the joining head 20 in a direction along the joint line 4 b . Also, the robot main body 10 is configured to be able to move the joining head 20 in directions toward and away from the members to be joined 4 .
  • the friction stir welding device 1 can also perform friction stir welding of superimposed parts of the two members to be joined 4 .
  • control device 30 controls the robot main body 10 (see FIG. 1 ), based on the shape of the joint line 4 b inputted in advance as numerical data, and causes the joining tool 2 , inserted in the members to be joined 4 while rotating, to move along the joint line 4 b.
  • the friction stir welding device 1 in Example 1 is configured by having the joining head 20 shown in FIG. 2 attached to the wrist head 10 e of the robot main body 10 shown in FIG. 1 , and is controlled by the control device 30 shown in FIG. 1 .
  • the main body part 20 a of the joining head 20 is provided with an image pickup device 20 c .
  • the image pickup device 20 c is provided so as to pick up an image of the joint line 4 b on the members to be joined 4 at the time of friction stir welding.
  • the image pickup device 20 c may be, for example, an image pickup device utilizing a CMOS (complementary metal-oxide semiconductor) image sensor or a CCD (charged-coupled device) image sensor.
  • the image pickup device 20 c picks up an image of the joint line 4 b when the friction stir welding device 1 performs friction stir welding of the members to be joined 4 .
  • FIGS. 3A and 3B are views showing the state where the image pickup device picks up an image of the joint line.
  • FIG. 3A is a view showing the state where the two members to be joined are butted against each other.
  • FIG. 3B is a view showing the state where the two members to be joined are superimposed on each other.
  • the boundary between the two members to be joined 4 is the joint line 4 b .
  • the control device 30 controls the robot main body 10 (see FIG. 1 ) and thus moves the joining head 20 along the joint line 4 b .
  • the image pickup device 20 c is arranged forward in the direction of movement of the joining head 20 and picks up an image of the joint line 4 b that is ahead of the joining head 20 in the direction of movement.
  • a signal (video signal SigV) of the image of the joint line 4 b picked up by the image pickup device 20 c is inputted to the control device 30 .
  • the joint line 4 b is formed at the part where the two members to be joined 4 are superimposed.
  • the image pickup device 20 c picks up an image of an edge of the one member to be joined 4 arranged on the side of the image pickup device 20 c , as the joint line 4 b.
  • FIG. 4 is a functional block diagram of the control device.
  • FIG. 5 is a view showing ON/OFF of a position correction signal and the direction of movement of the joining head.
  • the control device 30 has a control unit 30 a , a motor drive unit 30 b , an ammeter 30 c , and an image processing unit 30 d .
  • the control unit 30 a is a computer device configured of a CPU (central processing unit), a memory, and an interface or the like, none of which is illustrated.
  • the CPU executes a predetermined program and thus controls the friction stir welding device 1 (see FIG. 1 ).
  • the motor drive unit 30 b outputs a current (motor drive current Im) supplied to the main shaft motor 3 of the joining head 20 in response to a command from the control unit 30 a .
  • the ammeter 30 c inputs, to the control unit 30 a , a measurement signal (current detection signal Sig 1 ) obtained by measuring the motor drive current Im supplied to the main shaft motor 3 .
  • the control unit 30 a calculates the motor drive current Im supplied to the main shaft motor 3 , based on the current detection signal Sig 1 .
  • control unit 30 a causes the main shaft motor 3 to rotate at a predetermined rotational speed.
  • control unit 30 a is configured to maintain the rotational speed of the main shaft motor 3 at a predetermined rotation speed by feedback control based on a signal inputted from a rotational speed meter (not illustrated) which measures the rotational speed of the main shaft motor 3 .
  • the video signal SigV of the image picked up by the image pickup device 20 c is inputted to the image processing unit 30 d .
  • the image processing unit 30 d performs image processing on the inputted video signal SigV and extracts the joint line 4 b (see FIG. 2 ). Then, the image processing unit 30 d detects misalignment generated between the joint line 4 b and the joining head 20 with respect to the direction of movement of the joining head 20 (see FIG. 2 ).
  • the control device 30 controls the robot main body 10 (see FIG. 1 ) in such a way as to move the joining head 20 in a direction along the joint line 4 b as its direction of movement, as shown in FIG. 5 .
  • the joining tool 2 is rotating (in the example shown in FIG. 5 , rotating clockwise) in the joining head 20 , a Coriolis force P 1 directed in a direction (in the example shown in FIG. 5 , to the left, facing the direction of movement) away from the direction of movement (direction along the joint line 4 b ) is generated in the joining head 20 .
  • the direction of movement of the joining head 20 changes to the left and the joining head 20 becomes misaligned from the joint line 4 b .
  • misalignment is generated between the joint line 4 b and the joining head 20 .
  • the control device 30 decides the direction of movement of the joining head 20 according to the shape of the joint line 4 b inputted in advance.
  • the control device 30 causes the wrist head 10 e (see FIG. 1 ) to rotate about the T-axis so that the image pickup device 20 c (see FIG. 2 ) is situated forward in the direction of movement of the joining head 20 .
  • the joint line 4 b extracted by the image processing unit 30 d is situated at the center (center of the image) of the image pickup range of the image pickup device 20 c.
  • the joint line 4 b is misaligned from the direction of movement of the joining head 20
  • the joint line 4 b extracted by the image processing unit 30 d shown in FIG. 4 is misaligned from the center of the image by the image pickup device 20 c .
  • the image processing unit 30 d detects the misalignment (junction deviation ⁇ X) of the joint line 4 b from the center of the image, and outputs a position correction signal Sig 2 when this junction deviation ⁇ X exceeds a predetermined level.
  • the position correction signal Sig 2 is inputted to the control unit 30 a .
  • the control unit 30 a corrects the direction of movement of the joining head 20 so as to resolve the junction deviation ⁇ X of the joint line 4 b from the direction of movement of the joining head 20 .
  • the junction deviation ⁇ X is the misalignment (deviation) between the moving joining head 20 and the direction along the joint line 4 b.
  • Example 1 a deviation detection device which detects the junction deviation ⁇ X is formed by the image pickup device 20 c shown in FIG. 2 and the image processing unit 30 d shown in FIG. 4 .
  • FIG. 6 is a flowchart showing a procedure for the image processing unit to output the position correction signal.
  • the image processing unit 30 d of the control device 30 shown in FIG. 4 executes the procedure shown in FIG. 6 , as appropriate, and thus outputs the position correction signal Sig 2 .
  • the image processing unit 30 d of the control device 30 calculates the misalignment of the joining head 20 from the joint line 4 b (junction deviation ⁇ X shown in FIG. 5 ) (Step S 1 ).
  • the image processing unit 30 d determines whether the junction deviation ⁇ X is within a predetermined proper range (proper deviation) or not (Step S 2 ). When the junction deviation ⁇ X reaches a predetermined level (deviation limit value ⁇ Xmax), as indicated by a point Px in FIG. 5 , the image processing unit 30 d determines that the junction deviation ⁇ X is not a proper deviation (No in Step S 2 ), outputs the position correction signal Sig 2 (Step S 3 ), and proceeds to Step S 4 .
  • the position correction signal Sig 2 turns ON, as indicated by a bold dashed line in FIG. 5 . Meanwhile, when the junction deviation ⁇ X is less than the deviation limit value ⁇ Xmax, the image processing unit 30 d determines that the junction deviation ⁇ X is a proper deviation (Yes in Step S 2 ) and ends this procedure without outputting the position correction signal Sig 2 .
  • the image processing unit 30 d outputs the position correction signal Sig 2 until the junction deviation ⁇ X becomes zero (No in Step S 4 ).
  • the image processing unit 30 d stops outputting the position correction signal Sig 2 (Step S 5 ) and ends this procedure.
  • the position correction signal Sig 2 turns OFF, as indicated by a bold dashed line in FIG. 5 .
  • the control unit 30 a controls the robot main body 10 (see FIG. 1 ) to move the joining head 20 forward along the direction of the joint line 4 b and to move the joining head 20 in the direction such that the junction deviation ⁇ X is resolved. That is, when the position correction signal Sig 2 is inputted, the control device 30 (control unit 30 a ) causes the joining head 20 to move in the direction toward the joint line 4 b.
  • the joining head 20 moves forward toward the joint line 4 b and the junction deviation ⁇ X decreases.
  • control unit 30 a stops the movement of the joining head 20 in the direction toward the joint line 4 b at the time point when the output of the position correction signal Sig 2 is stopped (at the time point when the position correction signal Sig 2 turns OFF).
  • the image processing unit 30 d may be configured to stop the output of the position correction signal Sig 2 , for example, slightly before the junction deviation ⁇ X becomes zero. With this configuration, the joining head 20 avoids exceeding the joint line 4 b due to inertia and the position of the joining head 20 can be accurately aligned with the joint line 4 b.
  • a position correction signal Sig 2 having different polarities (for example, positive (+) and negative ( ⁇ ) signal levels) depending on the difference in the direction of the misalignment of the joining head 20 from the joint line 4 b (left-right direction with respect to the direction of movement of the joining head 20 ) may be employed.
  • the control unit 30 a can acquire the direction of the misalignment (junction deviation ⁇ X) of the joining head 20 from the joint line 4 b , based on the position correction signal Sig 2 .
  • a configuration may be employed in which a position correction signal Sig 2 with a positive (+) polarity is generated when a junction deviation ⁇ X of leftward misalignment from the direction of movement of the joining head 20 is generated and in which a position correction signal Sig 2 with a negative ( ⁇ ) polarity is generated when a junction deviation ⁇ X of rightward misalignment from the direction of movement of the joining head 20 is generated.
  • the control unit 30 a can determine the direction (left/right) of the junction deviation ⁇ X from the direction of movement of the joining head 20 , based on the polarity (positive/negative) of the position correction signal Sig 2 .
  • the control device 30 in Example 1 monitors the motor drive current Im, based on the current detection signal Sig 1 inputted from the ammeter 30 c (see FIG. 4 ). Moreover, the control device 30 controls the robot main body 10 (see FIG. 1 ) in such a way that the motor drive current Im reaches a predetermined reference value (proper range of current).
  • FIG. 7 is a view showing the relationship between the amount of insertion of the tool and torque.
  • the main shaft motor 3 shown in FIG. 2 rotates the joining tool 2 .
  • the pin part 2 b of the joining tool 2 is inserted into the members to be joined 4 while rotating. Therefore, the pin part 2 b receives resistance (torque P) to the rotation from the members to be joined 4 .
  • the resistance (torque P) received by the joining tool 2 from the members to be joined 4 increases.
  • the resistance (torque P) received by the joining tool 2 from the members to be joined 4 is a load to the rotation of the main shaft motor 3 . Therefore, as the torque P received by the joining tool 2 from the members to be joined 4 increases, the load to the rotation of the main shaft motor 3 increases and the motor drive current Im supplied to the main shaft motor 3 increases.
  • the control device 30 can monitor the amount of insertion of the tool ⁇ by monitoring the motor drive current Im.
  • control device 30 can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by controlling the robot main body 10 (see FIG. 1 ) in such a way that the motor drive current Im falls between a current corresponding to the upper limit of torque P T and a current corresponding to the lower limit of torque P L .
  • the control device 30 can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by maintaining the motor drive current Im within the proper range of current.
  • the control device 30 determines that the amount of insertion of the tool ⁇ is greater than the proper range of insertion, and controls the robot main body 10 to reduce the amount of insertion of the tool ⁇ .
  • the amount of insertion of the pin part 2 b into the members to be joined 4 decreases, and the pressing force with which the shoulder part 2 a presses the members to be joined 4 drops.
  • the torque P received by the joining tool 2 from the members to be joined 4 decreases, the load on the main shaft motor 3 is reduced, and the motor drive current Im drops.
  • the control device 30 determines that the amount of insertion of the tool ⁇ is smaller than the proper range of insertion, and controls the robot main body 10 to increase the amount of insertion of the tool ⁇ .
  • the amount of insertion of the pin part 2 b into the members to be joined 4 increases, and the pressing force with which the shoulder part 2 a presses the members to be joined 4 increases.
  • the torque P received by the joining tool 2 from the members to be joined 4 increases, the load on the main shaft motor 3 increases, and the motor drive current Im increases.
  • the control device 30 controls the robot main body 10 in such a way that the joining tool 2 moves in a direction perpendicular to the members to be joined 4 , by a combination of movements of the lower arm 10 b , the upper arm 10 c , the wrist 10 d , and the wrist head 10 e.
  • the control device 30 (see FIG. 4 ) in Example 1 monitors the motor drive current Im, based on the current detection signal Sig 1 inputted from the ammeter 30 c (see FIG. 4 ). Then, the control device 30 controls the robot main body 10 in such a way that the motor drive current Im falls within the proper range of current. That is, the control device 30 maintains the amount of insertion of the tool ⁇ within the proper range of insertion, based on the motor drive current Im. Thus, the amount of insertion of the tool ⁇ is maintained within the proper range of insertion, based on the motor drive current Im, and the quality of friction stir welding is improved.
  • the relationship between the torque P received by the joining tool 2 from the members to be joined 4 (load on the main shaft motor 3 ) and the motor drive current Im is decided, based on characteristics of the main shaft motor 3 , and the proper range of current corresponding to the upper limit of torque P T and the lower limit of torque P L is decided, based on the characteristics.
  • the proper range of insertion for the amount of insertion of the tool ⁇ , and the upper limit of torque P T and the lower limit of torque P L corresponding to the proper range of insertion are suitably set, based on the material or the like of the members to be joined 4 .
  • control device 30 can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by maintaining the motor drive current Im supplied to the main shaft motor 3 within the proper range of current.
  • FIG. 8 is a view showing a joining head according to Example 2.
  • FIG. 9 is a view showing the relationship between a proper range of insertion for the amount of insertion of the tool and pressing load.
  • the joining head 20 in Example 2 is attached to the wrist head 10 e via a load sensor (load cell 21 ).
  • the friction stir welding device 1 in Example 2 has the same configuration as the friction stir welding device 1 in Example 1 shown in FIGS. 1 and 2 , except for having the load cell 21 .
  • the control device 30 resolves the misalignment (junction deviation ⁇ X shown in FIG. 5 ) of the joining head 20 from the joint line 4 b , as in Example 1.
  • the load cell 21 detects the load when the joining head 20 is pressed against the wrist head 10 e , and outputs a detection signal (load signal Sig 3 ).
  • the load signal Sig 3 is inputted to the control unit 30 a (see FIG. 4 ) of the control device 30 .
  • the control unit 30 a (see FIG. 4 ) of the control device 30 calculates the load (pressing load W) with which the joining head 20 presses the wrist head 10 e , based on the load signal Sig 3 . As the pressing load W increases, the amount of insertion of the tool ⁇ increases. Therefore, the control device 30 can adjust the amount of insertion of the tool ⁇ by adjusting the pressing load W.
  • the relationship between the pressing load W and the amount of insertion of the tool ⁇ is decided as a characteristic due to the material of the members to be joined 4 .
  • control device 30 can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by controlling the robot main body 10 (see FIG. 1 ) in such a way that the pressing load W falls between the upper limit of load W T and the lower limit of load W L .
  • the control device 30 can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by maintaining the pressing load W within the proper range of load.
  • the control device 30 controls the robot main body 10 to increase the amount of insertion of the tool ⁇ .
  • the pressing force with which the shoulder part 2 a presses the members to be joined 4 increases.
  • the load received by the joining tool 2 from the members to be joined 4 increases and the pressing load W increases.
  • the control device 30 controls the robot main body 10 to reduce the amount of insertion of the tool ⁇ .
  • the pressing force with which the shoulder part 2 a presses the members to be joined 4 decreases.
  • the load received by the joining tool 2 from the members to be joined 4 decreases and the pressing load W decreases.
  • the control device 30 (see FIG. 4 ) in Example 2 monitors the pressing load W, based on the load signal Sig 3 inputted from the load cell 21 (see FIG. 8 ). Then, the control device 30 controls the robot main body 10 in such a way that the pressing load W falls within the proper range of load. Thus, the amount of insertion of the tool ⁇ is maintained within the proper range of insertion and the quality of friction stir welding is improved.
  • FIG. 10 is a view showing a joining head according to Example 3.
  • FIG. 11 is a view showing the relationship between a proper range of insertion for the amount of insertion of the tool and the height of the head.
  • the joining head 20 in Example 3 is provided with a distance meter 22 (distance measuring device).
  • the friction stir welding device 1 in Example 3 has the same configuration as that of the friction stir welding device 1 in Example 1 shown in FIGS. 1 and 2 , except for having the distance meter 22 .
  • the control device 30 resolves the misalignment (junction deviation ⁇ X shown in FIG. 5 ) of the joining head 20 from the joint line 4 b , as in Example 1.
  • the distance meter 22 measures the distance from the joining head 20 to the surfaces 4 a of the members to be joined 4 , converts the measured distance into a measurement signal (distance signal Sig 4 ), and outputs the measurement signal.
  • the distance signal Sig 4 is inputted to the control unit 30 a (see FIG. 4 ) of the control device 30 .
  • the structure of the distance meter 22 is not limited.
  • a contactless distance meter 22 which casts a laser beam onto the members to be joined 4 and measures the distance to the surfaces 4 a , based on its reflected light, may be used.
  • a contact distance meter 22 which has a rod (not illustrated) directed toward the members to be joined 4 and measures the distance to the surfaces 4 a , based on the amount of displacement of the rod, may be used.
  • the control unit 30 a (see FIG. 4 ) of the control device 30 calculates the height of the joining head 20 (height of the head Hd) from the surfaces 4 a of the members to be joined 4 , based on the distance signal Sig 4 . As the height of the head Hd decreases, the amount of insertion of the tool ⁇ increases. The relationship between the height of the head Hd and the amount of insertion of the tool ⁇ is decided as a characteristic due to the material of the members to be joined 4 . Therefore, the control device 30 can adjust the amount of insertion of the tool ⁇ by adjusting the height of the head Hd.
  • a proper range (proper range of insertion) for the amount of insertion of the tool ⁇ into the members to be joined 4 is set, it is possible to set an upper limit value (upper limit of height Hd T ) and a lower limit value (lower limit of height Hd L ) of the height of the head Hd corresponding to the proper range of insertion.
  • control device 30 can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by controlling the robot main body 10 (see FIG. 1 ) in such a way that the height of the head Hd falls between the upper limit of height Hd T and the lower limit of height Hd L .
  • the control device 30 can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by maintaining the height of the head Hd within the proper range of height.
  • the control device 30 controls the robot main body 10 to bring the joining head 20 closer to the members to be joined 4 and increase the amount of insertion of the tool ⁇ .
  • the distance between the joining tool 2 and the members to be joined 4 decreases and the height of the head Hd decreases.
  • the control device 30 controls the robot main body 10 to move the joining head 20 away from the members to be joined 4 and reduce the amount of insertion of the tool ⁇ .
  • the distance between the joining tool 2 and the members to be joined 4 increases and the height of the head Hd increases.
  • the control device 30 (see FIG. 4 ) in Example 3 monitors the height of the head Hd, based on the distance signal Sig 4 inputted from the distance meter 22 (see FIG. 10 ). Then, the control device 30 controls the robot main body 10 in such a way that the height of the head Hd falls within the proper range of height. That is, the control device 30 in Example 3 maintains the amount of insertion of the tool ⁇ within the proper range of insertion, based on the distance signal Sig 4 outputted from the distance meter 22 (distance measuring device). Thus, the amount of insertion of the tool ⁇ is maintained within the proper range of insertion and the quality of friction stir welding is improved.
  • FIG. 12 is a view showing a friction stir welding device according to Example 4.
  • the joining head 20 is attached to the robot main body 10 via a lift device 50 .
  • the structure of the lift device 50 is not limited.
  • the lift device 50 may be configured of a servo motor 50 a , a ball screw 50 b , and a lift head 50 c.
  • the ball screw 50 b is provided, extending in a direction (direction of an H-axis) of moving the joining head 20 in a straight line, and is rotated about an axis by the servo motor 50 a .
  • the lift head 50 c is attached to the ball screw 50 b by a ball screw mechanism, and moves in its axial direction according to the rotation of the ball screw 50 b . Then, the joining head 20 is attached to the lift head 50 c.
  • Example 4 the direction of the axis of rotation of the joining tool 2 , that is, of the axis of rotation of the main shaft motor 3 , is defined as the direction of the H-axis.
  • a lift device in which the lift head 50 c is moved in a straight line in the direction of the H-axis by an actuator which is driven by oil pressure or air pressure may be used.
  • the friction stir welding device 1 a in Example 4 has the same configuration as that of the friction stir welding device 1 in Example 1 shown in FIGS. 1 and 2 , except for having the lift device 50 . Also, the control device 30 (see FIG. 4 ) resolves the misalignment (junction deviation ⁇ X shown in FIG. 5 ) of the joining head 20 from the joint line 4 b , as in Example 1.
  • the main shaft motor 3 is arranged outside of the main body part 20 a
  • the main shaft motor 3 may be housed within the main body part 20 a , as in Example 1.
  • the one-axis degree of freedom (movement in the H-axis direction) provided for the lift device 50 is added to the six-axis degrees of freedom provided for the robot main body 10 . Therefore, the joining head 20 has seven-axis degrees of freedom with respect to the installation surface G. In this way, in the friction stir welding device 1 a in Example 4, the joining head 20 is held on the robot main body 10 with the seven-axis degrees of freedom. Then, the lift device 50 is configured to be able to move the joining head 20 in directions toward and away from the members to be joined 4 .
  • the control device 30 controls the robot main body 10 , based on a video signal SigV inputted from the image pickup device 20 c , and causes the joining head 20 to move along the joint line 4 b (see FIG. 2 ).
  • control device 30 performs friction stir welding of the members to be joined 4 while changing the amount of insertion of the tool ⁇ in such a way that the motor drive current Im supplied to the main shaft motor 3 falls within a proper range of current.
  • the control device 30 drives the lift device 50 and thus changes the amount of insertion of the tool ⁇ . If the motor drive current Im is greater than the proper range of current, the control device 30 drives the servo motor 50 a , thus causes the joining head 20 to move away from the members to be joined 4 , and reduces the amount of insertion of the tool ⁇ . The torque P received by the joining tool 2 from the members to be joined 4 decreases, the load on the main shaft motor 3 is reduced, and the motor drive current Im drops.
  • the control device 30 drives the servo motor 50 a , thus causes the joining head 20 to move toward the members to be joined 4 , and increases the amount of insertion of the tool ⁇ .
  • the torque P received by the joining tool 2 from the members to be joined 4 increases, the load on the main shaft motor 3 increases, and the motor drive current Im increases.
  • control device 30 performs friction stir welding of the members to be joined 4 while controlling the lift device 50 to maintain the motor drive current Im within the proper range of current.
  • the friction stir welding device 1 a in Example 4 can return the motor drive current Im to the proper range of current simply by driving the lift device 50 . Therefore, the motor drive current Im can be adjusted with less energy (electric power) than for driving the robot main body 10 .
  • inertia can be made smaller than in the case where the joining head 20 is moved by the robot main body 10 . Therefore, the accuracy of position control of the joining head 20 is improved.
  • FIG. 13 is a view showing a joining head of a friction stir welding device according to Example 5.
  • the joining head 20 of the friction stir welding device 1 a in Example 5 is attached to the lift head 50 c via a load sensor (load cell 21 ).
  • the friction stir welding device 1 a in Example 5 has the same configuration as that of the friction stir welding device 1 a in Example 4 shown in FIG. 12 , except for having the load cell 21 .
  • the control device 30 resolves the misalignment (junction deviation ⁇ X shown in FIG. 5 ) of the joining head 20 from the joint line 4 b , as in Example 1.
  • the load cell 21 detects the load when the joining head 20 is pressed against the lift head 50 c , and outputs a load signal Sig 3 .
  • the load signal Sig 3 is inputted to the control unit 30 a (see FIG. 4 ) of the control device 30 .
  • the control device 30 calculates the pressing load W based on the load signal Sig 3 . Moreover, the control device 30 controls the lift device 50 in such a way that the calculated pressing load W falls between the upper limit of load W T and the lower limit of load W L shown in FIG. 9 .
  • the control device 30 controls the lift device 50 to increase the amount of insertion of the tool ⁇ .
  • the load received by the joining tool 2 from the members to be joined 4 increases and the pressing load W increases.
  • the control device 30 controls the lift device 50 to reduce the amount of insertion of the tool ⁇ .
  • the load received by the joining tool 2 from the members to be joined 4 decreases and the pressing load W decreases.
  • the amount of insertion of the tool ⁇ is maintained within the proper range of insertion and the quality of friction stir welding is improved.
  • the amount of insertion of the tool ⁇ can be adjusted with less energy. Moreover, since the inertia with respect to the movement of the joining head 20 can be reduced, the accuracy of position control of the joining head 20 is improved.
  • FIG. 14 is a view showing a joining head of a friction stir welding device according to Example 6.
  • the joining head 20 of the friction stir welding device 1 a in Example 6 is provided with a distance meter 22 .
  • the friction stir welding device 1 a in Example 6 has the same configuration as that of the friction stir welding device 1 a in Example 4 shown in FIG. 12 , except for having the distance meter 22 .
  • the control device 30 resolves the misalignment (junction deviation ⁇ X shown in FIG. 5 ) of the joining head 20 from the joint line 4 b , as in Example 1.
  • the distance meter 22 measures the distance (height of the head Hd) from the joining head 20 to the surfaces 4 a of the members to be joined 4 and outputs a distance signal Sig 4 .
  • the control device 30 (see FIG. 4 ) calculates the height of the head Hd, based on the distance signal Sig 4 .
  • the control device 30 controls the lift device 50 in such a way that the calculated height of the head Hd falls between the upper limit of height Hd T and the lower limit of height Hd L (proper range of height) shown in FIG. 11 .
  • the control device 30 controls the lift device 50 to reduce the amount of insertion of the tool ⁇ .
  • the joining head 20 and the members to be joined 4 are moved away from each other and the height of the head Hd increases. Meanwhile, if the height of the head Hd is higher than the proper range of height, the control device 30 controls the lift device 50 to increase the amount of insertion of the tool ⁇ .
  • the joining head 20 and the members to be joined 4 are moved closer to each other and the height of the head Hd decreases.
  • control device 30 (see FIG. 4 ) of the friction stir welding device 1 a in Example 6 performs friction stir welding of the members to be joined 4 while controlling the lift device 50 to maintain the height of the head Hd within the proper range of height.
  • the amount of insertion of the tool ⁇ is maintained within the proper range of insertion and the quality of friction stir welding is improved.
  • the amount of insertion of the tool ⁇ can be adjusted with less energy. Moreover, since the inertia with respect to the movement of the joining head 20 can be reduced, the accuracy of position control of the joining head 20 is improved.
  • FIG. 15 is a view showing a joining head in a friction stir welding device according to Example 7.
  • the friction stir welding device 1 a in Example 7 is provided with an ammeter (lift device ammeter 50 d ) which measures the current (position control current Is) supplied to the servo motor 50 a of the lift device 50 .
  • the lift device ammeter 50 d measures the position control current Is supplied to the servo motor 50 a and outputs a measurement signal (lift current signal Sig 5 ).
  • the lift current signal Sig 5 is inputted to the control device 30 (see FIG. 12 ).
  • the control unit 30 a (see FIG. 4 ) of the control device 30 calculates the position control current Is supplied to the servo motor 50 a , based on the lift current signal Sig 5 .
  • the friction stir welding device 1 a in Example 7 has the same configuration as that of the friction stir welding device 1 a in Example 4 shown in FIG. 12 , except for having the lift device ammeter 50 d .
  • the control device 30 resolves the misalignment (junction deviation ⁇ X shown in FIG. 5 ) of the joining head 20 from the joint line 4 b , as in Example 1.
  • the control device 30 After driving the servo motor 50 a and deciding the position of the lift head 50 c (joining head 20 ), the control device 30 (see FIG. 4 ) supplies the position control current Is to the servo motor 50 a in order to maintain the lift head 50 c at that position.
  • the position of the lift head 50 c is maintained and hence the position of the joining tool 2 of the joining head 20 attached to the lift head 50 c is maintained.
  • the distance between the joining head 20 and the members to be joined 4 (height of the head Hd) is maintained and the amount of insertion of the tool ⁇ is maintained.
  • the load applied to the servo motor 50 a changes and therefore the position control current Is changes.
  • the position control current Is is constant, the height of the head Hd is constant.
  • the relationship between the position control current Is and the height of the head Hd is decided as a characteristic of the friction stir welding device 1 a (see FIG. 12 ).
  • the control device 30 controls the lift device 50 to move the joining head 20 away from the members to be joined 4 and thus increase the height of the head Hd. Meanwhile, if the position control current Is calculated based on the lift current signal Sig 5 becomes smaller than the current at the time when the height of the head Hd is equal to the lower limit of height Hd L , the control device 30 controls the lift device 50 to move the joining head 20 closer to the members to be joined 4 and thus reduce the height of the head Hd.
  • control device 30 of the friction stir welding device 1 a can maintain the amount of insertion of the tool ⁇ within the proper range of insertion by adjusting the height of the head Hd, based on the position control current Is.
  • the amount of insertion of the tool ⁇ is maintained within the proper range of insertion and the quality of friction stir welding is improved.
  • the amount of insertion of the tool ⁇ can be adjusted with less energy. Moreover, since the inertia with respect to the movement of the joining head 20 can be reduced, the accuracy of position control of the joining head 20 is improved.
  • the friction stir welding device 1 in Example 1 shown in FIGS. 1 and 2 is configured to be able to correct misalignment (junction deviation ⁇ X shown in FIG. 5 ) between the joining head 20 and the joint line 4 b if such misalignment is generated, when moving the joining head 20 along the joint line 4 b formed as the boundary between the two members to be joined 4 which are to be jointed together. That is, the friction stir welding device 1 in Example 1 can bring the junction deviation ⁇ X generated between the joining head 20 and the joint line 4 b , close to zero.
  • the control device 30 controlling the friction stir welding device 1 performs image processing on the video signal SigV inputted from the image pickup device 20 c and extracts the joint line 4 b . Then, when the misalignment (junction deviation ⁇ X) between the center of the image and the joint line 4 b exceeds a predetermined level, the control device 30 determines that the junction deviation ⁇ X is generated between the joining head 20 and the joint line 4 b , and corrects the junction deviation ⁇ X. Specifically, the control device 30 controls the robot main body 10 to move the joining head 20 in the direction of the joint line 4 b . Thus, the junction deviation ⁇ X is converged toward zero and the joining head 20 moves accurately along the joint line 4 b . Therefore, the members to be joined 4 are joined together by friction stir welding along the joint line 4 b . That is, since the area where friction stir welding is performed is not largely away from the joint line 4 b , high-quality friction stir welding is achieved.
  • the joining head 20 moves along the joint line 4 b in the state where the joining tool 2 attached to the joining head 20 shown in FIG. 2 is rotating and where the pin part 2 b formed in the joining tool 2 is inserted in the members to be joined 4 . Then, due to the reaction force received by the rotating pin part 2 b from the members to be joined 4 , the Coriolis force P 1 (see FIG. 5 ) causing the junction deviation ⁇ X between the joining head 20 and the joint line 4 b is generated.
  • the friction stir welding device 1 can restrain the Coriolis force P 1 with its large mass and can move the joining head 20 without generating the junction deviation ⁇ X between the joining head 20 and the joint line 4 b (or in the state where the junction deviation ⁇ X is small).
  • the joining head 20 is attached to the robot main body 10 .
  • the robot main body 10 is small-sized and lightweight in order to efficiently move the moving parts such as the lower arm 10 b and the upper arm 10 c . Therefore, the joining head 20 tends to be displaced by the Coriolis force P 1 generated by the rotation of the pin part 2 b , and the junction deviation ⁇ X tends to occur between the joining head 20 and the joint line 4 b.
  • control device 30 in Example 1 is configured to be able to correct the junction deviation ⁇ X generated between the joining head 20 and the joint line 4 b .
  • the control device 30 in Example 1 is configured to be able to correct the junction deviation ⁇ X generated between the joining head 20 and the joint line 4 b .
  • the miniaturization of the friction stir welding device 1 is possible, for example, a portable friction stir welding device 1 with a high degree of freedom in installation can be provided.
  • control device 30 controlling the friction stir welding device 1 in Example 1 monitors the amount of insertion of the tool ⁇ by monitoring the current (motor drive current Im) supplied to the main shaft motor 3 . Then, friction stir welding of the members to be joined 4 can be performed in such a way that the amount of insertion of the tool ⁇ is maintained within a predetermined proper range of insertion. Therefore, the amount of insertion of the pin part 2 b into the members to be joined 4 is kept constant and high-quality friction stir welding is possible.
  • the friction stir welding device 1 a in Example 4 has the lift device 50 . Then, the joining head 20 is attached to the robot main body 10 via the lift device 50 . Therefore, the control device 30 can maintain the amount of insertion of the tool ⁇ at a constant level by controlling the lift device 50 .
  • the lift device 50 can be driven with less energy (electric power) than the robot main body 10 , the energy that is needed to maintain the amount of insertion of the tool ⁇ at a constant level is reduced.
  • a part of the configuration in one example can be replaced by the configuration in another example.
  • the configuration in one example can be added to the configuration in another example.
  • the joining head 20 (see FIG. 2 ) of the friction stir welding device 1 (see FIG. 1 ) described in Examples 1 to 3 is provided with the image pickup device 20 c (see FIG. 2 ). Also, the image processing unit 30 d (see FIG. 4 ) of the control device 30 detects the misalignment between the joint line 4 b (see FIG. 2 ) and the joining head 20 , based on the video signal SigV inputted from the image pickup device 20 c.
  • This configuration is not limiting.
  • a configuration in which a laser beam is cast onto the members to be joined 4 (see FIG. 2 ) so as to detect the joint line 4 b (see FIG. 2 ) can be employed.
  • a contactless distance meter (not illustrated) which casts a laser beam onto the members to be joined 4 (see FIG. 2 ) and thus measures the distance from the members to be joined 4 is provided forward in the direction of movement of the joining head 20 (see FIG. 2 ). Since the joint line 4 b (see FIG. 2 ) is a recessed part on the surfaces 4 a (see FIG. 2 ) of the members to be joined 4 , the distance from this part to the distance meter is longer.
  • the control device 30 (see FIG. 4 ) can detect the misalignment between the joint line 4 b and the joining head 20 by extracting the part (recessed part) with a longer distance from the distance meter, as the joint line 4 b.
  • the image pickup device 20 c (see FIG. 2 ) and the image processing unit 30 d (see FIG. 4 ) are not needed and the structure of the friction stir welding device 1 (see FIG. 1 ) can be simplified.
  • the image processing unit 30 d (see FIG. 4 ) outputs the position correction signal Sig 2 when the junction deviation ⁇ X reaches the deviation limit value ⁇ Xmax, as shown in FIG. 5 .
  • the image processing unit 30 d may be configured to output the position correction signal Sig 2 indicating the magnitude of the junction deviation ⁇ X when the junction deviation ⁇ X becomes greater than zero.
  • the control unit 30 a (see FIG. 4 ) can acquire the magnitude of the junction deviation ⁇ X, based on the position correction signal Sig 2 . Therefore, the control device 30 (see FIG. 4 ) can move the joining head 20 (see FIG. 2 ) in such a way that the junction deviation ⁇ X is constantly zero, and can effectively resolve the misalignment generated between the joint line 4 b (see FIG. 2 ) and the joining head 20 .
  • the robot main body 10 (see FIG. 1 ) in Examples 1 to 7 has six-axis degrees of freedom. This configuration is not limiting and the degree of freedom of the robot main body 10 is not limited.
  • the robot main body 10 may have five-axis or fewer degrees of freedom, or may have seven-axis or more degrees of freedom.

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